CN114197622A - Equipment is removed in trench cover mat formation - Google Patents
Equipment is removed in trench cover mat formation Download PDFInfo
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- CN114197622A CN114197622A CN202111429995.XA CN202111429995A CN114197622A CN 114197622 A CN114197622 A CN 114197622A CN 202111429995 A CN202111429995 A CN 202111429995A CN 114197622 A CN114197622 A CN 114197622A
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- plate
- trench cover
- supporting
- support frame
- sliding
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- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 5
- 230000009471 action Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 8
- 230000000875 corresponding effect Effects 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F5/00—Sewerage structures
- E03F5/04—Gullies inlets, road sinks, floor drains with or without odour seals or sediment traps
- E03F5/06—Gully gratings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/12—Manhole shafts; Other inspection or access chambers; Accessories therefor
- E02D29/14—Covers for manholes or the like; Frames for covers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Water Supply & Treatment (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Public Health (AREA)
- Hydrology & Water Resources (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a trench cover paving and withdrawing device which comprises an AGV, wherein a mechanical arm is arranged on a body of the AGV, a fixed end of the mechanical arm is fixedly arranged on the body of the AGV, a movable end of the mechanical arm is connected with a grabbing clamp, the grabbing clamp comprises a support frame, the support frame is connected with the movable end of the mechanical arm, clamp bodies are respectively arranged at two opposite ends of the support frame, each clamp body comprises a guide rail and a sliding plate which are matched with each other, the guide rails are fixedly arranged on the support frame, the sliding plates are connected onto the guide rails in a sliding mode, grabbing hooks are fixedly arranged on the sliding plates, the sliding plates in the two clamp bodies respectively slide close to or far away from each other through cylinder driving actions, and a visual sensor and a proximity switch are further arranged on the support frame. Its purpose is in order to provide a trench cover mat formation and remove equipment of receiving, can conveniently mat formation and remove the receipts, labour saving and time saving to the trench cover through this equipment.
Description
Technical Field
The invention relates to an automatic mechanical device, in particular to a device for paving and withdrawing a trench cover plate.
Background
The trench cover plate is widely applied to different places such as municipal roads, garden facilities, residential districts, schools, stadiums and the like, is paved above the trench, and has various types which can be selected to meet different span load requirements. To different places, the use amount of the trench cover plate is very huge, and when the trench cover plate is paved and removed, manual operation is basically carried out through workers at present, so that time and labor are wasted.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the equipment for paving and withdrawing the trench cover, the trench cover can be conveniently paved and withdrawn through the equipment, and time and labor are saved.
The equipment for paving and withdrawing the trench cover comprises an AGV, wherein a mechanical arm is arranged on a body of the AGV, a fixed end of the mechanical arm is fixedly arranged on the body of the AGV, a movable end of the mechanical arm is connected with a grabbing clamp, the grabbing clamp comprises a support frame, the support frame is connected with the movable end of the mechanical arm, clamp bodies are respectively arranged at two opposite ends of the support frame, each clamp body comprises a guide rail and a sliding plate which are matched with each other, the guide rails are fixedly arranged on the support frame, the sliding plates are connected onto the guide rails in a sliding mode, grabbing hooks are fixedly arranged on the sliding plates, the sliding plates in the two clamp bodies respectively slide close to or far away from each other through cylinder driving actions, and a vision sensor and a proximity switch are further arranged on the support frame.
The invention relates to a trench cover plate paving and withdrawing device, wherein a support frame comprises a support flat plate and a support frame, the support frame comprises two vertical plates which are oppositely arranged, the lower ends of the two vertical plates are fixedly arranged on the support flat plate, a transverse plate is fixedly connected between the upper ends of the two vertical plates, the transverse plate is connected with the movable end of a mechanical arm through a self-adaptive structure, the opposite ends of the top surface of the support flat plate are respectively provided with a clamp body, a guide rail and an air cylinder are fixedly arranged on the top surface of the support flat plate, the support flat plate is provided with strip-shaped through holes which are arranged in one-to-one correspondence with grab hooks, the arrangement directions of the strip-shaped through holes and the guide rail are the same, the upper ends of the grab hooks are fixedly arranged on a sliding plate, and the lower ends of the grab hooks extend to the lower part of the support flat plate after penetrating through the corresponding strip-shaped through holes.
The equipment for paving and withdrawing the trench cover plate comprises a transverse plate, a visual sensor, a proximity switch and a supporting flat plate, wherein the transverse plate is fixedly provided with a convex plate, the end head of the convex plate extends to the outer side of the supporting flat plate, the bottom of the end head of the convex plate is provided with the visual sensor, the proximity switch is fixedly arranged on the supporting flat plate, and the detection end of the proximity switch extends to the position below the supporting flat plate.
The invention discloses equipment for paving and withdrawing a trench cover plate, wherein the sliding plate is driven by a cylinder in a specific mode that: the cylinder body of cylinder is fixed to be located on the top surface of supporting the dull and stereotyped, the cylinder is close to the middle part of supporting the dull and stereotyped and arranges, the piston rod fixedly connected with one of cylinder pushes away and draws the piece, push away and draw the piece through connecting plate and slide fixed connection.
The invention discloses equipment for paving and withdrawing a trench cover plate, wherein a supporting column is respectively arranged on supporting flat plates on two opposite sides of a sliding plate, the supporting column is arranged close to the middle part of the supporting flat plate, and a spring is connected between the supporting column and the sliding plate.
The invention discloses a trench cover plate paving and withdrawing device, wherein a concrete mode that strip-shaped through holes are formed in a supporting flat plate is as follows: the supporting plate is provided with circular through holes which are arranged in one-to-one correspondence with the grapples, positioning pins are fixedly arranged in the circular through holes, the lower ends of the positioning pins extend to the lower portion of the supporting plate, through grooves which are axially arranged are formed in the outer peripheral surface of each positioning pin, and the strip-shaped through holes are formed between the through grooves and the inner walls of the circular through holes.
The trench cover plate paving and withdrawing equipment comprises a top plate and a hook body which are fixedly connected, wherein the lower end of the hook body is provided with a hook part, the top plate is fixedly connected to the bottom surface of a sliding plate, the hook body is positioned in the strip-shaped through hole, and the hook part of the hook body is arranged towards the middle part of a supporting flat plate.
The invention relates to a device for paving and withdrawing a trench cover plate, wherein two oppositely arranged grapples are fixedly arranged on a sliding plate, a connecting line between the two grapples on the same sliding plate is vertical to a guide rail, and two strip-shaped through holes are respectively formed in two ends of a supporting flat plate.
The invention discloses equipment for paving and withdrawing a trench cover plate, wherein the concrete mode that the sliding plate is connected to the guide rail in a sliding manner is as follows: the bottom surface of the sliding plate is fixedly provided with a sliding block, and the sliding block is connected to the guide rail in a sliding mode.
According to the equipment for paving and withdrawing the trench cover plate, the self-adaptive structure is the knuckle bearing, the outer ring of the knuckle bearing is fixedly connected to the transverse plate, the inner ring of the knuckle bearing is fixedly connected to the movable end of the mechanical arm, and the AGV body is further provided with the control cabinet and the laser safety scanner.
The difference between the equipment for paving and withdrawing the trench cover and the prior art is that when the equipment is used, an AGV is placed at a position where the trench cover needs to be paved or withdrawn, then a grabbing clamp at the movable end of a mechanical arm is controlled to move towards the trench cover, then a visual sensor is used for identifying the accurate position of the trench cover, the grabbing clamp is continuously controlled to be close to the trench cover, then an air cylinder drives two sliding plates to slide away from each other, then the grabbing clamp is continuously controlled to move to a grabbing position (at the moment, the trench cover is located between grabbing hooks of the two sliding plates), in the process, a proximity switch detects whether the grabbing clamp moves to the grabbing position, then the air cylinder drives the two sliding plates to slide close to each other until the grabbing hooks of the two sliding plates clamp the trench cover, and then the mechanical arm is controlled to pave or withdraw the trench cover to the required position. When the grabbing clamp releases the trench cover plate, the cylinder drives the two sliding plates to slide away from each other again, so that the trench cover plate can fall off from the grabbing hooks of the two sliding plates. Therefore, the invention can conveniently pave and remove the trench cover plate, and saves time and labor.
The invention will be further explained with reference to the drawings.
Drawings
FIG. 1 is a perspective view of the trench cover paving and withdrawing device of the present invention;
FIG. 2 is a perspective view of the gripping fixture of the present invention;
FIG. 3 is a further perspective view of the gripping fixture of the present invention;
FIG. 4 is a top view of the gripping fixture of the present invention;
FIG. 5 is a perspective view of the grabbing clamp of the present invention with the slide plate hidden;
FIG. 6 is a top view of the gripping fixture of the present invention with the slide plate hidden;
FIG. 7 is a perspective view of the slide plate of the present invention;
FIG. 8 is a further perspective view of the slide plate of the present invention;
FIG. 9 is a diagram showing the positional relationship between the grapple and the positioning pin (the hook portion of the grapple is positioned in the positioning pin) in the present invention;
FIG. 10 is a diagram showing the positional relationship between the grapple and the positioning pin (the hook portion of the grapple is located outside the positioning pin) in the present invention;
FIG. 11 is a schematic view of the construction of the locating pin of the present invention;
fig. 12 is a schematic view of the structure of the grapple of the present invention.
Detailed Description
As shown in fig. 1, and in conjunction with fig. 2-12, the trench cover paving and retracting device of the present invention, including an AGV, the AGV comprises an AGV body 1, a mechanical arm 3 is arranged on the AGV body 1, the fixed end of the mechanical arm 3 is fixedly arranged on the AGV body 1, the movable end of the mechanical arm 3 is connected with a grabbing clamp 2, the grabbing clamp 2 comprises a supporting frame, the support frame is connected with the movable end of the mechanical arm 3, the opposite two ends of the support frame are respectively provided with a clamp body, the clamp body comprises a guide rail 16 and a sliding plate 14 which are matched with each other, the guide rail 16 is fixedly arranged on the supporting frame, the sliding plates 14 are connected to the guide rails 16 in a sliding mode, the sliding plates 14 are fixedly provided with grabbing hooks 17, the sliding plates 14 in the two clamp bodies are driven by the air cylinders 12 to slide close to or away from each other, and the supporting frame is further provided with a visual sensor 11 and a proximity switch 21.
When the AGV is used, the AGV is placed at a position where a trench cover 6 needs to be paved or retracted, then the grabbing clamp 2 at the movable end of the mechanical arm 3 is controlled to move towards the trench cover 6, then the visual sensor 11 is used for identifying the accurate position of the trench cover 6, the grabbing clamp 2 is continuously controlled to approach the trench cover 6, then the air cylinder 12 drives the two sliding plates 14 to slide away from each other, then the grabbing clamp 2 is continuously controlled to move to the grabbing position (at the moment, the trench cover 6 is positioned between the grabbing hooks 17 of the two sliding plates 14), in the process, the approach switch 21 detects whether the grabbing clamp 2 moves to the grabbing position, then the air cylinder 12 drives the two sliding plates 14 to slide close to each other until the grabbing hooks 17 of the two sliding plates 14 clamp the trench cover 6, and then the mechanical arm 3 is controlled to pave or retract the trench cover 6 to the required position. When the gripping jig 2 releases the trench cover 6, the cylinder 12 is allowed to drive the two sliding plates 14 to slide away from each other again, so that the trench cover 6 can be released from between the gripping hooks 17 of the two sliding plates 14. Therefore, the invention can conveniently pave and remove the trench cover plate 6, and saves time and labor.
As shown in fig. 2, and in conjunction with fig. 3-6, the present invention provides a trench cover installation and removal apparatus, wherein the support frame comprises a support flat plate 23 and a support frame, the support frame comprises two vertical plates 7 which are oppositely arranged, the lower ends of the two vertical plates 7 are both fixedly arranged on the support flat plate 23, a transverse plate 8 is fixedly connected between the upper ends of the two vertical plates 7, the transverse plate 8 is connected with the movable end of the mechanical arm 3 through a self-adaptive structure, the opposite ends of the top surface of the supporting flat plate 23 are respectively provided with the clamp body, the guide rail 16 and the cylinder 12 are both fixedly arranged on the top surface of a supporting flat plate 23, the supporting flat plate 23 is provided with strip-shaped through holes which are arranged corresponding to the grapples 17 one by one, the arrangement direction of the strip-shaped through holes is the same as that of the guide rail 16, the upper end of the grapple 17 is fixedly arranged on the sliding plate 14, the lower end of the grapple 17 passes through the corresponding strip-shaped through hole and then extends to the lower part of the support flat plate 23.
The self-adaptive structure is a joint bearing 9, the outer ring of the joint bearing 9 is fixedly connected to the transverse plate 8, and the inner ring of the joint bearing 9 is fixedly connected to the movable end of the mechanical arm 3. When snatching anchor clamps 2 and snatching trench cover 6, after snatching anchor clamps 2 and the first contact of trench cover 6, snatch anchor clamps 2 and can adjust the gesture of self through adaptive structure to the gesture of placing with trench cover 6 suits, more is favorable to snatching anchor clamps 2 and snatchs trench cover 6 like this.
In this embodiment, the supporting plate 23 is a rectangular plate, the two clamp bodies are respectively disposed at two ends of the supporting plate 23 in the length direction, and the guide rail 16 is disposed along the length direction of the supporting plate 23.
As shown in fig. 2, and in conjunction with fig. 3-6, the slide 14 is driven by the cylinder 12 in the following specific manner: the cylinder body of the cylinder 12 is fixedly arranged on the top surface of the supporting flat plate 23, the cylinder 12 is arranged close to the middle of the supporting flat plate 23, a piston rod 24 of the cylinder 12 is fixedly connected with a push-pull block 25, and the push-pull block 25 is fixedly connected with the sliding plate 14 through a connecting plate 13.
Since the air cylinders 12 in the two clamp bodies are arranged close to the middle of the support plate 23, when the piston rods 24 of the air cylinders 12 extend, the two sliding plates 14 respectively slide towards the two ends of the support plate 23, namely the two sliding plates 14 slide away from each other; conversely, when the piston rod 24 of the cylinder 12 is retracted, both the slides 14 slide toward the middle of the support plate 23, i.e., the slides 14 slide toward each other. For each clamp body, two cylinders 12 are provided, the two cylinders 12 are arranged side by side, and the piston rods 24 of the two cylinders 12 are fixedly connected with a push-pull block 25.
Since each slide plate 14 is fixedly provided with the grapple 17, when the two slide plates 14 slide away from or close to each other, the grapple 17 on the two slide plates 14 also move away from or close to each other at the same time, and when the grapple 17 moves, the grapple 17 moves along the corresponding strip-shaped through hole. When grabbing the trench cover 6, the grappling hooks 17 on the two sliding plates 14 are moved close to each other until the lower ends of the grappling hooks 17 on the two sliding plates 14 grip the trench cover 6, and since the lower ends of the grappling hooks 17 are located below the supporting plate 23, the trench cover 6 gripped by the grappling hooks 17 is also located below the supporting plate 23.
As shown in fig. 2, and as shown in fig. 3-6, the equipment for paving and withdrawing a trench cover according to the present invention comprises a horizontal plate 8, a convex plate 10 is fixed on the horizontal plate 8, the end of the convex plate 10 extends to the outer side of a supporting plate 23, and the bottom of the end of the convex plate 10 is provided with the vision sensor 11. The reason why the end of the protruding plate 10 extends beyond the supporting plate 23 is to prevent the supporting plate 23 from blocking the visual sensor 11 from recognizing the trench cover 6. The proximity switch 21 is fixedly arranged on the support flat plate 23, and the detection end of the proximity switch 21 extends to the lower part of the support flat plate 23. The support plate 23 is provided with a through hole for mounting the proximity switch 21, and the proximity switch 21 is mounted in the through hole with the detection end facing downward.
When the grabbing clamp 2 grabs the trench cover plate 6, the vision sensor 11 is used for identifying the position of the trench cover plate 6 and transmitting a signal to the control mechanism, and the control mechanism controls the mechanical arm 3 to act so as to enable the grabbing clamp 2 to move towards the position of the trench cover plate 6; the proximity switch 21 is used for measuring the distance between the trench cover plate 6 and the support flat plate 23, when the distance between the trench cover plate and the support flat plate reaches the grabbing distance, the proximity switch 21 transmits a signal to the control mechanism, then the control mechanism controls the movable end of the mechanical arm 3 to stop moving, and then the piston rod 24 of the air cylinder 12 is controlled to retract so that the grabbing hook 17 clamps the trench cover plate 6.
As shown in fig. 2, and in combination with fig. 3 and 4, the equipment for paving and withdrawing a trench cover according to the present invention comprises a support plate 23 on each of two opposite sides of the sliding plate 14, a support column 22 is respectively disposed on the support plate 23, the support column 22 is disposed near the middle of the support plate 23, and a spring 20 is connected between the support column 22 and the sliding plate 14. When the spring 20 is installed, the spring 20 is pre-stressed, and because the pillar 22 is disposed near the middle of the support plate 23, under the pre-stress of the spring 20, even if the cylinder 12 fails, the two sliding plates 14 can slide from a position far away from each other to a position near each other (i.e., the two sliding plates 14 slide from the two ends of the support plate 23 to a position near the middle), and are maintained at the position. Thus, after the grabbing hooks 17 clamp the trench cover plate 6, even if the air cylinder 12 cannot provide clamping force due to air circuit failure, the grabbing hooks 17 on the two sliding plates 14 can clamp the trench cover plate 6 under the action of the tensile force of the spring 20, so that the phenomenon that the trench cover plate 6 falls off due to the failure of the air cylinder 12 can be avoided, and the safety of the invention is further improved.
As shown in fig. 2, and with reference to fig. 3, 5, and 9-12, the trench cover plate paving and withdrawing device of the present invention has the following specific manner that the support flat plate 23 is provided with strip-shaped through holes: the support plate 23 is provided with circular through holes which are arranged in one-to-one correspondence with the grapples 17, the circular through holes are internally and fixedly provided with positioning pins 18, the lower ends of the positioning pins 18 extend to the lower part of the support plate 23, the outer peripheral surface of each positioning pin 18 is provided with through grooves 29 which are axially arranged, and the through grooves 29 and the inner walls of the circular through holes jointly form the strip-shaped through holes.
As shown in fig. 9, and in conjunction with fig. 10-12, the trench cover pavement withdrawal apparatus of the present invention, wherein the grapple 17 includes a top plate 26 and a hook body 27 which are fixedly connected, the lower end of the hook body 27 is provided with a hook portion 28, the top plate 26 is fixedly connected to the bottom surface of the sliding plate 14, the hook body 27 is located in the strip-shaped through hole, and the hook portion 28 of the hook body 27 is disposed toward the middle of the support plate 23.
When the two sliding plates 14 slide away from each other under the driving of the air cylinder 12 (i.e. when the two sliding plates 14 slide from the middle position near the supporting plate 23 to the two ends), the hook 28 at the lower end of each grabbing hook 17 enters into the through groove 29 of the corresponding positioning pin 18, so that when the grabbing clamp 2 grabs the trench cover plate 6, the positioning pin 18 can be smoothly inserted into the circular hole 19 of the trench cover plate 6 (since the grabbing clamp 2 is connected with the movable end of the mechanical arm 3 through the knuckle bearing 9, when the positioning pin 18 is inserted into the circular hole 19 of the trench cover plate 6, even if there is an inclination angle between the positioning pin 18 and the circular hole 19 of the trench cover plate 6, the insertion angle of the positioning pin 18 can be automatically adjusted through the knuckle bearing 9, thereby ensuring smooth insertion), when the positioning pin 18 is inserted into a proper position in the circular hole 19 of the trench cover plate 6 (the position is measured by the proximity switch 21), the air cylinder 12 drives the two sliding plates 14 to slide toward each other (i.e., the two sliding plates 14 slide from the two ends of the support plate 23 to the middle position), so that the hook portions 28 at the lower ends of the grappling hooks 17 on the two sliding plates 14 come out of the through grooves 29 of the respective positioning pins 18 until the cover plate 6 is clamped. Since the hook portion 28 of the hook body 27 is disposed toward the middle of the support plate 23, the hook portion 28 abuts against the bottom surface of the trench cover plate 6 when the grapple 17 grips the trench cover plate 6.
As shown in fig. 2 and fig. 3-6, the equipment for paving and withdrawing a trench cover according to the present invention comprises two oppositely disposed grapples 17 fixed on the sliding plate 14, a connecting line between the two grapples 17 on the same sliding plate 14 is perpendicular to the guide rail 16, and two strip-shaped through holes are respectively opened at two ends of the supporting plate 23. The two strip-shaped through holes at each end of the support plate 23 are arranged in one-to-one correspondence with the two grapples 17 on the slide plate 14 at that end.
As shown in fig. 2, and in conjunction with fig. 3-8, the present invention provides a trench cover paving and withdrawing device, wherein the sliding plate 14 is slidably connected to the guide rail 16 in the following manner: a sliding block 15 is fixedly arranged on the bottom surface of the sliding plate 14, and the sliding block 15 is connected to the guide rail 16 in a sliding manner. The number of the guide rails 16 corresponding to each slide plate 14 is two, and two sliders 15 are slidably connected to each guide rail 16.
As shown in FIG. 1, in the trench cover paving and withdrawing device of the present invention, a control cabinet 5 and a laser safety scanner 30 are further disposed on a vehicle body 1 of the AGV. The control cabinet 5 is used for arranging a control mechanism, the laser safety scanner 30 can scan a safety light curtain 4 between the control cabinet 5 and the mechanical arm 3 when being started, the safety light curtain 4 divides the upper part of the AGV body 1 into a mechanical arm area and an operation area, when in actual use, an operator can stand or sit in the operation area to control the work of the invention (when the operator sits in the operation area, the operation area is provided with a seat as a driving position of the operator), at the moment, the safety light curtain 4 plays a protection role to prevent the mechanical arm 3 from entering the operation area due to accidents or faults to damage the safety of equipment and the operator (when the mechanical arm 3 passes through the safety light curtain 4 and enters the operation area from the mechanical arm area, the laser safety scanner 30 transmits a signal to the control mechanism, and the control mechanism stops the mechanical arm 3 from executing corresponding actions after receiving the signal, so as to protect the safety of the equipment and the operator in the operation area), of course, the operator may operate the device from outside by a remote controller or an automatic control program.
When the AGV is used, the AGV is placed at a position where a trench cover 6 needs to be paved or retracted, then the grabbing clamp 2 at the movable end of the mechanical arm 3 is controlled to move towards the trench cover 6, then the visual sensor 11 is used for identifying the accurate position of the trench cover 6 (such as the position of a round hole 19 of the trench cover 6), the grabbing clamp 2 is continuously controlled to approach the trench cover 6, then the air cylinder 12 drives the two sliding plates 14 to slide away from each other (in the process, the hook parts 28 of the grabbing hooks 17 enter the through grooves 29 of the corresponding positioning pins 18), then the grabbing clamp 2 is continuously controlled to move to the grabbing position (namely, the positioning pins 18 are inserted into the round holes 19 of the trench cover 6, at the moment, the trench cover 6 is positioned between the grabbing hooks 17 of the two sliding plates 14), in the process, the approaching switch 21 detects whether the grabbing clamp 2 moves to the grabbing position, and then the air cylinder 12 drives the two sliding plates 14 to move close to each other, this enables the hook portions 28 of the grapples 17 to come out of the through grooves 29 of the corresponding positioning pins 18 until the grapples 17 of the two sliding plates 14 hold the trench cover 6 (at this time, the hook portions 28 of the grapples 17 are abutted against the bottom surface of the trench cover 6), and then the robot arm 3 is controlled to lay or retract the trench cover 6 to a desired position. When the gripping fixture 2 releases the cover plate 6, the air cylinder 12 is only required to drive the two sliding plates 14 to slide away from each other again (at this time, the hook 28 of the gripping hook 17 enters the through groove 29 of the corresponding positioning pin 18 again, that is, the gripping hook 17 no longer grips the cover plate 6), so that the cover plate 6 can fall off between the gripping hooks 17 of the two sliding plates 14, that is, the cover plate 6 is separated from the positioning pin 18. Therefore, the invention can conveniently pave and remove the trench cover plate 6, and saves time and labor.
The AGV adopts the intelligent omnidirectional moving vehicle body 1, and can realize omnidirectional movement, automatic navigation and accurate positioning. The mechanical arm 3 adopts five-degree-of-freedom industrial mechanical arm, and the movable end of the mechanical arm 3 is additionally provided with the grabbing clamp 2, so that the automatic identification and automatic grabbing of the trench cover plate 6 are realized.
It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. The utility model provides a trench cover mat formation removes and receives equipment which characterized in that: including the AGV, be equipped with the arm on the AGV's automobile body, the stiff end of arm is fixed to be set up on the AGV's automobile body, the expansion end of arm is connected with and snatchs anchor clamps, it includes the support frame to snatch anchor clamps, the support frame is connected with the expansion end of arm, the relative both ends of support frame are equipped with the anchor clamps body respectively, the anchor clamps body is including the guide rail and the slide of mutually supporting, the guide rail is fixed to be located on the support frame, slide sliding connection in on the guide rail, the fixed grapple that is equipped with on the slide, two slide in the anchor clamps body drives the slip that the action is close to each other or keeps away from through the cylinder respectively, still be equipped with vision sensor and proximity switch on the support frame.
2. A trench cover installation and retrieval apparatus as claimed in claim 1 wherein: the support frame is including supporting dull and stereotyped and carriage, the carriage includes two mutual disposition's riser, two the lower extreme of riser is all fixed to be located on the support flat board, two a fixedly connected with diaphragm between the upper end of riser, the diaphragm passes through the expansion end of adaptive structure and arm and is connected, the relative both ends of supporting dull and stereotyped top surface are equipped with respectively the anchor clamps body, the equal fixed top surface of supporting the flat board of locating of guide rail and cylinder, set up the bar through-hole of arranging with the grapple one-to-one on the support flat board, the bar through-hole is the same with the direction of arranging of guide rail, the upper end of grapple is fixed to be located on the slide, the lower extreme of grapple extends to the below of supporting the flat board after passing corresponding bar through-hole.
3. A trench cover installation and retrieval apparatus as claimed in claim 2 wherein: the fixed flange that is equipped with on the diaphragm, the end of flange extends to the outside that supports the flat board, the end bottom of flange is equipped with vision sensor, proximity switch is fixed to be located on supporting the flat board, proximity switch's detection end extends to the below that supports the flat board.
4. A trench cover laying and retrieving device as claimed in claim 3, wherein said slide plate is driven by a pneumatic cylinder in the specific manner of: the cylinder body of cylinder is fixed to be located on the top surface of supporting the dull and stereotyped, the cylinder is close to the middle part of supporting the dull and stereotyped and arranges, the piston rod fixedly connected with one of cylinder pushes away and draws the piece, push away and draw the piece through connecting plate and slide fixed connection.
5. A trench cover installation and retrieval apparatus as claimed in claim 4 wherein: the support flat plates on two opposite sides of the sliding plate are respectively provided with a support column, the support columns are arranged close to the middle parts of the support flat plates, and springs are connected between the support columns and the sliding plate.
6. The trench cover paving and withdrawing device as claimed in claim 5, wherein the specific mode of the strip-shaped through holes formed on the supporting flat plate is as follows: the supporting plate is provided with circular through holes which are arranged in one-to-one correspondence with the grapples, positioning pins are fixedly arranged in the circular through holes, the lower ends of the positioning pins extend to the lower portion of the supporting plate, through grooves which are axially arranged are formed in the outer peripheral surface of each positioning pin, and the strip-shaped through holes are formed between the through grooves and the inner walls of the circular through holes.
7. A trench cover installation and retrieval apparatus as claimed in claim 6 wherein: the grapple comprises a top plate and a hook body which are fixedly connected, a hook portion is arranged at the lower end of the hook body, the top plate is fixedly connected to the bottom surface of the sliding plate, the hook body is located in the strip-shaped through hole, and the hook portion of the hook body is arranged towards the middle of the supporting flat plate.
8. A trench cover installation and retrieval apparatus as claimed in claim 7 wherein: two oppositely-arranged grapples are fixedly arranged on the sliding plate, a connecting line between the two grapples on the same sliding plate is perpendicular to the guide rail, and two strip-shaped through holes are respectively formed in two ends of the supporting flat plate.
9. A trench cover installation and retrieval apparatus as claimed in claim 8 wherein said slide plate is slidably attached to said track in a manner which comprises: the bottom surface of the sliding plate is fixedly provided with a sliding block, and the sliding block is connected to the guide rail in a sliding mode.
10. A trench cover installation and retrieval apparatus as claimed in claim 9 wherein: self-adaptation structure is joint bearing, joint bearing's outer lane fixed connection in on the diaphragm, joint bearing's inner circle fixed connection is in the expansion end of arm, still be equipped with switch board and laser safety scanner on AGV's the automobile body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429995.XA CN114197622B (en) | 2021-11-29 | 2021-11-29 | Cover plate paving and retracting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111429995.XA CN114197622B (en) | 2021-11-29 | 2021-11-29 | Cover plate paving and retracting equipment |
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| Publication Number | Publication Date |
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| CN114197622A true CN114197622A (en) | 2022-03-18 |
| CN114197622B CN114197622B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111429995.XA Active CN114197622B (en) | 2021-11-29 | 2021-11-29 | Cover plate paving and retracting equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114803973A (en) * | 2022-06-07 | 2022-07-29 | 北京市政路桥管理养护集团有限公司 | Trench cover plate installation device and method |
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| CN114197622B (en) | 2024-03-26 |
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